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萬(wàn)向電動(dòng)底盤(pán)控制系統(tǒng)設(shè)計(jì)
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Control System Design of Omnidirectional Electric Chassis
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    摘要:

    在分析由4個(gè)Mecanum輪組成的車輛運(yùn)動(dòng)學(xué)模型和動(dòng)力學(xué)模型的基礎(chǔ)上,，設(shè)計(jì)了基于參數(shù)分配器的模糊PID雙閉環(huán)控制系統(tǒng),，對(duì)采用該系統(tǒng)進(jìn)行控制的基于Mecanum輪的電動(dòng)萬(wàn)向底盤(pán)進(jìn)行實(shí)驗(yàn)分析,，驗(yàn)證了該控制系統(tǒng)具有更好的響應(yīng)時(shí)間和穩(wěn)態(tài)誤差精度,，能夠滿足該電動(dòng)底盤(pán)在狹小空間內(nèi)精確運(yùn)動(dòng)的要求,。

    Abstract:

    Based on the analysis of kinematic model and dynamic model of vehicle with four Mecanum wheel, the fuzzy PID dual closed-loop control system was designed based on parameter distributor. The Mecanum wheels based electric chassis with the proposed system was analyzed and tested. The control system was proved to have a good response time and steady-state error precision, which satisfied the requirement of precise movement of electric chassis in tight space. 

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陳文科,陳志,王志,高艷雯,田甜,高玉秀.萬(wàn)向電動(dòng)底盤(pán)控制系統(tǒng)設(shè)計(jì)[J].農(nóng)業(yè)機(jī)械學(xué)報(bào),2013,44(6):19-23,34. Chen Wenke, Chen Zhi, Wang Zhi, Gao Yanwen, Tian Tian, Gao Yuxiu. Control System Design of Omnidirectional Electric Chassis[J]. Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):19-23,34.

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  • 在線發(fā)布日期: 2013-05-28
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